Diff: main.cpp

Revision:

23:8f7ce4894c58

Parent:

22:f3a827faa135

Child:

24:a165dcd86710

--- a/main.cpp	Fri Oct 31 13:59:31 2014 +0000
+++ b/main.cpp	Fri Oct 31 14:33:13 2014 +0000
@@ -82,8 +82,10 @@
 float setspeed = 0, V3=60, V2=40, V1 =30, Vreturn= 35;//V in counts/s
 
 
-Encoder motor1(PTD5,PTD3);
-Encoder motor2(PTD0,PTD2);
+//Encoder motor1(PTD5,PTD3); //actual
+//Encoder motor2(PTD0,PTD2);
+//Encoder motor1(PTD5,PTD3);
+//Encoder motor2(PTD0,PTD2);
 DigitalOut motordir1(PTA4);
 DigitalOut motordir2(PTC9);
 PwmOut pwm_motor1(PTA5);
@@ -664,9 +666,7 @@
         pwm_motor1.write(new_pwm);
         motordir1 = 1;
         pc.printf("SLAAN\n");
-        scope.set(0,motor1.getPosition());        //ruwe data
-        scope.set(1,-244);     //filtered
-        scope.send();
+
 
         /*if (toestand == TERUGKEREN) {
             new_pwm = pid(setspeed, motor1.getSpeed(),false);
@@ -675,14 +675,17 @@
             pc.printf("motor gaat terugkeren\n\r");
             pc.printf("new pwm %f\r\n",new_pwm);*/
     }
+    scope.set(0,motor1.getPosition());        //ruwe data
+    scope.set(1,motor1.getPosition());     //filtered
+    scope.send();
 
 }
 
 void motor1aansturingdeel2()
 {
-    if (motor1.getPosition()>= ANGLEMAX && toestand != SLAAN) {
+    if (motor1.getPosition()>= ANGLEMIN && toestand != SLAAN) {
         toestand = WACHTEN;
-        motor1.setPosition(0);
+        //motor1.setPosition(0);
         pid(0,0,true);
         //pc.printf("if2\n");
     }
@@ -690,14 +693,15 @@
         new_pwm = pid(setspeed, motor1.getSpeed(),false);
         pwm_motor1.write(new_pwm);
         motordir1 = 0;
-        //sturen naar HID Scope
-        scope.set(0,motor1.getPosition());        //ruwe data
-        scope.set(2,motor1.getPosition());     //filtered
-        scope.send();
+
         pc.printf("motor2.getPosition %d\r\n", motor2.getPosition());
     }
     if (toestand == WACHTEN) {
         pwm_motor1.write(0);
         //pc.printf("ifwachten2\n");
     }
+    //sturen naar HID Scope
+    scope.set(0,motor1.getPosition());        //ruwe data
+    scope.set(2,motor1.getPosition());     //filtered
+    scope.send();
 }
\ No newline at end of file